GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS

Héctor A. Moreno, Philippe Wenger, J. Alfonso Pámanes, Damien Chablat

2006

Abstract

In this paper the trajectory planning problem is solved for a 2PRR parallel manipulator which works in cooperation with a 1 degree-of-freedom (dof) platform. The whole kinematic chain is considered as a redundant 3-dof manipulator, and an algorithm is presented to solve the redundancy by using the joint velocities in the null space of the jacobian matrix. The internal motion of the assisted manipulator allows globally optimize the condition number of the jacobian matrix during the accomplishment of a desired task. Consequently, the accuracy of the manipulator is maximized and singular or degenerate poses are avoided. A case of study is presented to show the effectiveness of our approach.

Paper Citation

in Harvard Style

A. Moreno H., Wenger P., Alfonso Pámanes J. and Chablat D. (2006). GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 516-522. DOI: 10.5220/0001213505160522

in Bibtex Style

@conference{icinco06,
author={Héctor A. Moreno and Philippe Wenger and J. Alfonso Pámanes and Damien Chablat},
title={GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={516-522},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001213505160522},
isbn={978-972-8865-60-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - GLOBAL OPTIMIZATION OF PERFORMANCE OF A 2PRR PARALLEL MANIPULATOR FOR COOPERATIVE TASKS
SN - 978-972-8865-60-3
AU - A. Moreno H.
AU - Wenger P.
AU - Alfonso Pámanes J.
AU - Chablat D.
PY - 2006
SP - 516
EP - 522
DO - 10.5220/0001213505160522